Abstract: In this paper, fractional order feedback control of a ball
beam model is investigated. The ball beam model is a particular
example of the double Integrator system having strongly nonlinear
characteristics and unstable dynamics which make the control of
such system a challenging task. Most of the work in fractional order
control systems are in theoretical nature and controller design and its
implementation in practice is very small. In this work, a successful
attempt has been made to design a fractional order PIλDμcontroller
for a benchmark laboratory ball and beam model. Better performance
can be achieved using a fractional order PID controller and it is
demonstrated through simulations results with a comparison to the
classic PID controller.
Abstract: In this article, LQR based PID controller design for
3DOF helicopter system is investigated. The 3-DOF helicopter
system is a benchmark laboratory model having strongly nonlinear
characteristics and unstable dynamics which make the control of such
system a challenging task. This article first presents the mathematical
model of the 3DOF helicopter system and then illustrates the basic
idea and technical formulation for controller design. The paper
explains the simple approach for the approximation of PID design
parameters from the LQR controller gain matrix. The simulation
results show that the investigated controller has both static and
dynamic performance, therefore the stability and the quick control
effect can be obtained simultaneously for the 3DOF helicopter
system.